李群：
S
E
(
3
)
SE(3)
SE(3)
T
∈
R
4
×
4
T \in \mathbb{R}^{4 \times 4}
T∈R4×4
T
=
[
R
t
0
T
1
]
=
[
a
b
c
j
d
e
f
k
g
h
i
l
0
0
0
1
]
T =
一个三维齐次坐标
P
P
P
P
=
[
v
1
v
2
v
3
1
]
P =
T
P
=
[
a
v
1
+
b
v
2
+
c
v
3
+
j
d
v
1
+
e
v
2
+
f
v
3
+
k
g
v
1
+
h
v
2
+
i
v
3
+
l
1
]
TP=
T
P
u
n
_
h
o
m
o
g
e
n
e
o
u
s
=
[
a
v
1
+
b
v
2
+
c
v
3
+
j
d
v
1
+
e
v
2
+
f
v
3
+
k
g
v
1
+
h
v
2
+
i
v
3
+
l
]
TP_{un\_homogeneous}=